OpenRaiser/Intern-Atlas huggingface dataset:
CMSG Cross-Media Semantic-Graph Feature Matching Algorithm for Autonomous Vehicle Relocalization
Venue: arXiv cs.CV 2023
Year: 2023

Relocalization is the basis of map-based localization algorithms. Camera and LiDAR map-based methods are pervasive since their robustness under different scenarios. Generally, mapping and localization using the same sensor have better accuracy since matching features between the same type of data is easier. However, due to the camera's lack of 3D information and the high cost of LiDAR, cross-media methods are developing, which combined live image data and Lidar map. Although matching features between different media is challenging, we believe cross-media is the tendency for AV relocalization since its low cost and accuracy can be comparable to the same-sensor-based methods. In this paper, we propose CMSG, a novel cross-media algorithm for AV relocalization tasks. Semantic features are utilized for better interpretation the correlation between point clouds and image features. What's more, abstracted semantic graph nodes are introduced, and a graph network architecture is integrated to better extract the similarity of semantic features. Validation experiments are conducted on the KITTI odometry dataset. Our results show that CMSG can have comparable or even better accuracy compared to current single-sensor-based methods at a speed of 25 FPS on NVIDIA 1080 Ti GPU.
Learner-Centered Analysis in Educational Metaverse Environments: Exploring Value Exchange Systems through Natural Interaction and Text Mining
Venue: arXiv cs.CY 2023
Year: 2023

This paper explores the potential developments of self-directed learning in the metaverse in response to Education 4.0 and the Fourth Industrial Revolution. It highlights the importance of education keeping up with technological advancements and adopting learner-centered approaches. Additionally, it focuses on exploring value exchange systems through natural interaction, text mining, and analysis. The metaverse concept extends beyond extended reality (XR) technologies, encompassing digital avatars and shared ecological value. The role of educators in exploring new technologies and leveraging text-mining techniques to enhance learning efficiency is emphasized. The metaverse is presented as a platform for value exchange, necessitating meaningful and valuable content to attract users. Integrating virtual and real-world experiences within the metaverse offers practical applications and contributes to its essence. This paper sheds light on the metaverse's potential to create a learner-centered educational environment and adapt to the evolving landscape of Education 4.0. Its findings, supported by text mining analysis, contribute to understanding the metaverse's role in shaping education in the Fourth Industrial Revolution.
Coreference-aware Double-channel Attention Network for Multi-party Dialogue Reading Comprehension
Venue: arXiv cs.CL 2023
Year: 2023

We tackle Multi-party Dialogue Reading Comprehension (abbr., MDRC). MDRC stands for an extractive reading comprehension task grounded on a batch of dialogues among multiple interlocutors. It is challenging due to the requirement of understanding cross-utterance contexts and relationships in a multi-turn multi-party conversation. Previous studies have made great efforts on the utterance profiling of a single interlocutor and graph-based interaction modeling. The corresponding solutions contribute to the answer-oriented reasoning on a series of well-organized and thread-aware conversational contexts. However, the current MDRC models still suffer from two bottlenecks. On the one hand, a pronoun like "it" most probably produces multi-skip reasoning throughout the utterances of different interlocutors. On the other hand, an MDRC encoder is potentially puzzled by fuzzy features, i.e., the mixture of inner linguistic features in utterances and external interactive features among utterances. To overcome the bottlenecks, we propose a coreference-aware attention modeling method to strengthen the reasoning ability. In addition, we construct a two-channel encoding network. It separately encodes utterance profiles and interactive relationships, so as to relieve the confusion among heterogeneous features. We experiment on the benchmark corpora Molweni and FriendsQA. Experimental results demonstrate that our approach yields substantial improvements on both corpora, compared to the fine-tuned BERT and ELECTRA baselines. The maximum performance gain is about 2.5\% F1-score. Besides, our MDRC models outperform the state-of-the-art in most cases.
Enabling Failure Recovery for On-The-Move Mobile Manipulation
Venue: arXiv cs.RO 2023
Year: 2023

We present a robot base placement and control method that enables a mobile manipulator to gracefully recover from manipulation failures while performing tasks on-the-move. A mobile manipulator in motion has a limited window to complete a task, unlike when stationary where it can make repeated attempts until successful. Existing approaches to manipulation on-the-move are typically based on open-loop execution of planned trajectories which does not allow the base controller to react to manipulation failures, slowing down or stopping as required. To overcome this limitation, we present a reactive base control method that repeatedly evaluates the best base placement given the robot's current state, the immediate manipulation task, as well as the next part of a multi-step task. The result is a system that retains the reliability of traditional mobile manipulation approaches where the base comes to a stop, but leverages the performance gains available by performing manipulation on-the-move. The controller keeps the base in range of the target for as long as required to recover from manipulation failures while making as much progress as possible toward the next objective. See https://benburgesslimerick.github.io/MotM-FailureRecovery for videos of experiments.
Quadratic Functional Encryption for Secure Training in Vertical Federated Learning
Venue: arXiv cs.CR 2023
Year: 2023

Vertical federated learning (VFL) enables the collaborative training of machine learning (ML) models in settings where the data is distributed amongst multiple parties who wish to protect the privacy of their individual data. Notably, in VFL, the labels are available to a single party and the complete feature set is formed only when data from all parties is combined. Recently, Xu et al. proposed a new framework called FedV for secure gradient computation for VFL using multi-input functional encryption. In this work, we explain how some of the information leakage in Xu et al. can be avoided by using Quadratic functional encryption when training generalized linear models for vertical federated learning.
Horizon-free Reinforcement Learning in Adversarial Linear Mixture MDPs
Venue: arXiv cs.LG 2023
Year: 2023

Recent studies have shown that episodic reinforcement learning (RL) is no harder than bandits when the total reward is bounded by $1$, and proved regret bounds that have a polylogarithmic dependence on the planning horizon $H$. However, it remains an open question that if such results can be carried over to adversarial RL, where the reward is adversarially chosen at each episode. In this paper, we answer this question affirmatively by proposing the first horizon-free policy search algorithm. To tackle the challenges caused by exploration and adversarially chosen reward, our algorithm employs (1) a variance-uncertainty-aware weighted least square estimator for the transition kernel; and (2) an occupancy measure-based technique for the online search of a \emph{stochastic} policy. We show that our algorithm achieves an $\tilde{O}\big((d+\log (|\mathcal{S}|^2 |\mathcal{A}|))\sqrt{K}\big)$ regret with full-information feedback, where $d$ is the dimension of a known feature mapping linearly parametrizing the unknown transition kernel of the MDP, $K$ is the number of episodes, $|\mathcal{S}|$ and $|\mathcal{A}|$ are the cardinalities of the state and action spaces. We also provide hardness results and regret lower bounds to justify the near optimality of our algorithm and the unavoidability of $\log|\mathcal{S}|$ and $\log|\mathcal{A}|$ in the regret bound.
User-Centric Clustering Under Fairness Scheduling in Cell-Free Massive MIMO
Venue: arXiv cs.IT 2023
Year: 2023

We consider fairness scheduling in a user-centric cell-free massive MIMO network, where $L$ remote radio units, each with $M$ antennas, serve $K_{\rm tot} \approx LM$ user equipments (UEs). Recent results show that the maximum network sum throughput is achieved where $K_{\rm act} \approx \frac{LM}{2}$ UEs are simultaneously active in any given time-frequency slots. However, the number of users $K_{\rm tot}$ in the network is usually much larger. This requires that users are scheduled over the time-frequency resource and achieve a certain throughput rate as an average over the slots. We impose throughput fairness among UEs with a scheduling approach aiming to maximize a concave component-wise non-decreasing network utility function of the per-user throughput rates. In cell-free user-centric networks, the pilot and cluster assignment is usually done for a given set of active users. Combined with fairness scheduling, this requires pilot and cluster reassignment at each scheduling slot, involving an enormous overhead of control signaling exchange between network entities. We propose a fixed pilot and cluster assignment scheme (independent of the scheduling decisions), which outperforms the baseline method in terms of UE throughput, while requiring much less control information exchange between network entities.
The Impact of Incumbent/Opposition Status and Ideological Similitude on Emotions in Political Manifestos
Venue: arXiv cs.CL 2023
Year: 2023

The study involved the analysis of emotion-associated language in the UK Conservative and Labour party general election manifestos between 2000 to 2019. While previous research have shown a general correlation between ideological positioning and overlap of public policies, there are still conflicting results in matters of sentiments in such manifestos. Using new data, we present how valence level can be swayed by party status within government with incumbent parties presenting a higher frequency in positive emotion-associated words while negative emotion-associated words are more prevalent in opposition parties. We also demonstrate that parties with ideological similitude use positive language prominently further adding to the literature on the relationship between sentiments and party status.
Online Sequence Clustering Algorithm for Video Trajectory Analysis
Venue: arXiv cs.CV 2023
Year: 2023

Target tracking and trajectory modeling have important applications in surveillance video analysis and have received great attention in the fields of road safety and community security. In this work, we propose a lightweight real-time video analysis scheme that uses a model learned from motion patterns to monitor the behavior of objects, which can be used for applications such as real-time representation and prediction. The proposed sequence clustering algorithm based on discrete sequences makes the system have continuous online learning ability. The intrinsic repeatability of the target object trajectory is used to automatically construct the behavioral model in the three processes of feature extraction, cluster learning, and model application. In addition to the discretization of trajectory features and simple model applications, this paper focuses on online clustering algorithms and their incremental learning processes. Finally, through the learning of the trajectory model of the actual surveillance video image, the feasibility of the algorithm is verified. And the characteristics and performance of the clustering algorithm are discussed in the analysis. This scheme has real-time online learning and processing of motion models while avoiding a large number of arithmetic operations, which is more in line with the application scenarios of front-end intelligent perception.
Exploiting Frequency Spectrum of Adversarial Images for General Robustness
Venue: arXiv cs.CV 2023
Year: 2023

In recent years, there has been growing concern over the vulnerability of convolutional neural networks (CNNs) to image perturbations. However, achieving general robustness against different types of perturbations remains challenging, in which enhancing robustness to some perturbations (e.g., adversarial perturbations) may degrade others (e.g., common corruptions). In this paper, we demonstrate that adversarial training with an emphasis on phase components significantly improves model performance on clean, adversarial, and common corruption accuracies. We propose a frequency-based data augmentation method, Adversarial Amplitude Swap, that swaps the amplitude spectrum between clean and adversarial images to generate two novel training images: adversarial amplitude and adversarial phase images. These images act as substitutes for adversarial images and can be implemented in various adversarial training setups. Through extensive experiments, we demonstrate that our method enables the CNNs to gain general robustness against different types of perturbations and results in a uniform performance against all types of common corruptions.
PolarDB-IMCI: A Cloud-Native HTAP Database System at Alibaba
Venue: arXiv cs.DB 2023
Year: 2023

Cloud-native databases have become the de-facto choice for mission-critical applications on the cloud due to the need for high availability, resource elasticity, and cost efficiency. Meanwhile, driven by the increasing connectivity between data generation and analysis, users prefer a single database to efficiently process both OLTP and OLAP workloads, which enhances data freshness and reduces the complexity of data synchronization and the overall business cost. In this paper, we summarize five crucial design goals for a cloud-native HTAP database based on our experience and customers' feedback, i.e., transparency, competitive OLAP performance, minimal perturbation on OLTP workloads, high data freshness, and excellent resource elasticity. As our solution to realize these goals, we present PolarDB-IMCI, a cloud-native HTAP database system designed and deployed at Alibaba Cloud. Our evaluation results show that PolarDB-IMCI is able to handle HTAP efficiently on both experimental and production workloads; notably, it speeds up analytical queries up to $\times149$ on TPC-H (100 $GB$). PolarDB-IMCI introduces low visibility delay and little performance perturbation on OLTP workloads (< 5%), and resource elasticity can be achieved by scaling out in tens of seconds.
Creative Data Generation: A Review Focusing on Text and Poetry
Venue: arXiv cs.CL 2023
Year: 2023

The rapid advancement in machine learning has led to a surge in automatic data generation, making it increasingly challenging to differentiate between naturally or human-generated data and machine-generated data. Despite these advancements, the generation of creative data remains a challenge. This paper aims to investigate and comprehend the essence of creativity, both in general and within the context of natural language generation. We review various approaches to creative writing devices and tasks, with a specific focus on the generation of poetry. We aim to shed light on the challenges and opportunities in the field of creative data generation.
Beqi: Revitalize the Senegalese Wolof Language with a Robust Spelling Corrector
Venue: arXiv cs.CL 2023
Year: 2023

The progress of Natural Language Processing (NLP), although fast in recent years, is not at the same pace for all languages. African languages in particular are still behind and lack automatic processing tools. Some of these tools are very important for the development of these languages but also have an important role in many NLP applications. This is particularly the case for automatic spell checkers. Several approaches have been studied to address this task and the one modeling spelling correction as a translation task from misspelled (noisy) text to well-spelled (correct) text shows promising results. However, this approach requires a parallel corpus of noisy data on the one hand and correct data on the other hand, whereas Wolof is a low-resource language and does not have such a corpus. In this paper, we present a way to address the constraint related to the lack of data by generating synthetic data and we present sequence-to-sequence models using Deep Learning for spelling correction in Wolof. We evaluated these models in three different scenarios depending on the subwording method applied to the data and showed that the latter had a significant impact on the performance of the models, which opens the way for future research in Wolof spelling correction.
NICOL: A Neuro-inspired Collaborative Semi-humanoid Robot that Bridges Social Interaction and Reliable Manipulation
Venue: arXiv cs.RO 2023
Year: 2023

Robotic platforms that can efficiently collaborate with humans in physical tasks constitute a major goal in robotics. However, many existing robotic platforms are either designed for social interaction or industrial object manipulation tasks. The design of collaborative robots seldom emphasizes both their social interaction and physical collaboration abilities. To bridge this gap, we present the novel semi-humanoid NICOL, the Neuro-Inspired COLlaborator. NICOL is a large, newly designed, scaled-up version of its well-evaluated predecessor, the Neuro-Inspired COmpanion (NICO). NICOL adopts NICO's head and facial expression display and extends its manipulation abilities in terms of precision, object size, and workspace size. Our contribution in this paper is twofold -- firstly, we introduce the design concept for NICOL, and secondly, we provide an evaluation of NICOL's manipulation abilities by presenting a novel extension for an end-to-end hybrid neuro-genetic visuomotor learning approach adapted to NICOL's more complex kinematics. We show that the approach outperforms the state-of-the-art Inverse Kinematics (IK) solvers KDL, TRACK-IK and BIO-IK. Overall, this article presents for the first time the humanoid robot NICOL, and contributes to the integration of social robotics and neural visuomotor learning for humanoid robots.
Benchmarking UWB-Based Infrastructure-Free Positioning and Multi-Robot Relative Localization: Dataset and Characterization
Venue: arXiv cs.RO 2023
Year: 2023

Ultra-wideband (UWB) positioning has emerged as a low-cost and dependable localization solution for multiple use cases, from mobile robots to asset tracking within the Industrial IoT. The technology is mature and the scientific literature contains multiple datasets and methods for localization based on fixed UWB nodes. At the same time, research in UWB-based relative localization and infrastructure-free localization is gaining traction, further domains. tools and datasets in this domain are scarce. Therefore, we introduce in this paper a novel dataset for benchmarking infrastructure-free relative localization targeting the domain of multi-robot systems. Compared to previous datasets, we analyze the performance of different relative localization approaches for a much wider variety of scenarios with varying numbers of fixed and mobile nodes. A motion capture system provides ground truth data, are multi-modal and include inertial or odometry measurements for benchmarking sensor fusion methods. Additionally, the dataset contains measurements of ranging accuracy based on the relative orientation of antennas and a comprehensive set of measurements for ranging between a single pair of nodes. Our experimental analysis shows that high accuracy can be localization, but the variability of the ranging error is significant across different settings and setups.
FlooNoC: A Multi-Tbps Wide NoC for Heterogeneous AXI4 Traffic
Venue: arXiv cs.AR 2023
Year: 2023

Meeting the staggering bandwidth requirements of today's applications challenges the traditional narrow and serialized NoCs, which hit hard bounds on the maximum operating frequency. This paper proposes FlooNoC, an open-source, low-latency, fully AXI4-compatible NoC with wide physical channels for latency-tolerant high-bandwidth non-blocking transactions and decoupled latency-critical short messages. We demonstrate the feasibility of wide channels by integrating a 5x5 router and links within a 9-core compute cluster in 12 nm FinFet technology. Our NoC achieves a bandwidth of 629Gbps per link while running at only 1.23 GHz (at 0.19 pJ/B/hop), with just 10% area overhead post layout.
NLG Evaluation Metrics Beyond Correlation Analysis: An Empirical Metric Preference Checklist
Venue: arXiv cs.CL 2023
Year: 2023

In this study, we analyze automatic evaluation metrics for Natural Language Generation (NLG), specifically task-agnostic metrics and human-aligned metrics. Task-agnostic metrics, such as Perplexity, BLEU, BERTScore, are cost-effective and highly adaptable to diverse NLG tasks, yet they have a weak correlation with human. Human-aligned metrics (CTC, CtrlEval, UniEval) improves correlation level by incorporating desirable human-like qualities as training objective. However, their effectiveness at discerning system-level performance and quality of system outputs remain unclear. We present metric preference checklist as a framework to assess the effectiveness of automatic metrics in three NLG tasks: Text Summarization, Dialogue Response Generation, and Controlled Generation. Our proposed framework provides access: (i) for verifying whether automatic metrics are faithful to human preference, regardless of their correlation level to human; and (ii) for inspecting the strengths and limitations of NLG systems via pairwise evaluation. We show that automatic metrics provide a better guidance than human on discriminating system-level performance in Text Summarization and Controlled Generation tasks. We also show that multi-aspect human-aligned metric (UniEval) is not necessarily dominant over single-aspect human-aligned metrics (CTC, CtrlEval) and task-agnostic metrics (BLEU, BERTScore), particularly in Controlled Generation tasks.
Estimating the Causal Effects of Natural Logic Features in Neural NLI Models
Venue: arXiv cs.CL 2023
Year: 2023

Rigorous evaluation of the causal effects of semantic features on language model predictions can be hard to achieve for natural language reasoning problems. However, this is such a desirable form of analysis from both an interpretability and model evaluation perspective, that it is valuable to zone in on specific patterns of reasoning with enough structure and regularity to be able to identify and quantify systematic reasoning failures in widely-used models. In this vein, we pick a portion of the NLI task for which an explicit causal diagram can be systematically constructed: in particular, the case where across two sentences (the premise and hypothesis), two related words/terms occur in a shared context. In this work, we apply causal effect estimation strategies to measure the effect of context interventions (whose effect on the entailment label is mediated by the semantic monotonicity characteristic) and interventions on the inserted word-pair (whose effect on the entailment label is mediated by the relation between these words.). Following related work on causal analysis of NLP models in different settings, we adapt the methodology for the NLI task to construct comparative model profiles in terms of robustness to irrelevant changes and sensitivity to impactful changes.